Rider Input Research Articles

Design and Development of Self Balancing Vehicle

Abstract: The project work outlines the design and development of a self-balancing vehicle. The project aimed to create a compact, lightweight, and energy-efficient vehicle that could maintain balance without the need for a rider's input. The prototype was built using a combination of electronic components, sensors, and programming algorithms that allowed the vehicle to maintain balance. The design process involved extensive research on similar vehicles and their components, as well as experimentation with various designs to determine the most efficient and effective approach. Once the design was finalized, the development phase began, with the construction of the vehicle's frame and the integration of the various electronic components. The vehicle's balancing system was developed using a combination of gyroscopes, and a microcontroller that processed data from these sensors to adjust the vehicle's balance. Additionally, the vehicle was equipped with a motor and a battery to allow for movement. During testing, the model was able to maintain balance. The vehicle's energy consumption was also significantly lower than that of similar vehicles, making it an efficient and environmentally-friendly mode of transportation. Overall, the project was successful in achieving its goals of designing and developing a self-balancing vehicle. With further refinement and testing, the vehicle has the potential to become a viable mode of transportation for short distances in urban environments.

Design of Multi Way Charging Hover Board

The main aim of this paper is to develop a hover board, which can be charged through battery as well as solar panels. It is a two way charging hover board. This kind of vehicle is interesting since it contains a lot of technology considered as a solution for future needs of the world relevant to an environment friendly and energy efficient transportation industry. The hover board consists of a metal frame on which the hardware is assembled in such a way that it works on the principle of balancing robot. The user have to stand on the segway and by applying the pressure, the infrared signals gets blocked by the pedal sensor and then the signal is given to the mother board to control the speed. The natural movements of the rider (lean forwards or backwards in combination) should be the rider input required to ride the vehicle (self-balancing personal transporter) consisting of two motorized wheels connected to a pair of articulated pads on which the rider places their feet and applies pressure for the movement of vehicle. The rider has to control the speed by leaning forward or backward and for turns by twisting the pads. The solar panels are connected to voltage booster circuit so as to charge the battery naturally and minimizing the use of fuel for short distance travelling.

Methodological considerations regarding motorcycle naturalistic riding investigations based on the use of g-g diagrams for rider profile detection

In recent decades, methods to realize naturalistic driving studies have been established to investigate the driver behavior under realistic conditions. Compared to the research on passenger cars, the naturalistic behavior of motorcycle riders is still rather unclear from a scientific point of view. However, understanding this behavior can contribute to the development of accident countermeasures. To this end, naturalistic driving methods can be applied to motorcycling. The objective of this study was to present a methodological approach to conduct a naturalistic riding investigation. The methodological considerations were supported by sample results on the rider profile assessment by using g-g diagrams (combination of longitudinal and lateral accelerations). The focus was on observable and measurable vehicle dynamics as a result of the rider input. A three-step approach was adopted, consisting of a pilot study, controlled main study, and naturalistic riding study. The first phase aimed at defining a measurement setup and investigating the general feasibility of using g-g diagrams for rider profile detection. The second phase involved experimental techniques. A heterogenous rider panel was observed in a quasi-controlled setup to better interpret the variations in data patterns resulting from the individual rider behavior opposed to, e.g., road type. The third phase involved the conduct of the naturalistic riding study. Three rider profiles were identified by considering the combinations of lateral and longitudinal accelerations. As a relevant indicator, the qualitatively assessed shape of the g-g diagrams developed rapidly and remained stable over time.

Optimal control of a road racing motorcycle on a three-dimensional closed track

The primary aim of this work is to validate dynamic minimum-lap-time optimal control simulations for a sports motorcycle on a 3D track. The racing line and rider inputs are optimised, while recognising the geometric features of a three-dimensional (3D) closed-circuit track, which is described in terms of curvilinear coordinates. A simple vehicle model is developed, which includes longitudinal weight transfer effects and a Magic Formula (MF) tyre description. The minimum-lap-time optimal control problem (OCP) is solved using a direct transcription technique that is based on orthogonal collocation. Detailed comparisons are made between experimental data and optimal theoretical predictions. The influences of the 3D features of the track are highlighted and discussed. The minimum-lap-time handling properties of the vehicle are also analysed.

Bicycle Rider Control Modelling for Path Tracking

Rider models are employed to gain insight into bicycle rider steering behaviour and to improve characteristic properties of bicycles. In this paper, stability properties as well as basic dynamic characteristics of the passive (uncontrolled) bicycle-rider system and consequences on the rider control modelling are addressed. In particular, the unstable motion of the system at low velocities and bandwidth limitations caused by non-minimum phase dynamics are emphasized. To analyse the effectiveness of the steering torque and the lean torque as possible rider's inputs to control the dynamics of the bicycle, a controllability analysis of the bicycle-rider system has been performed. It turns out that lean torque input, in contrast to steering torque input, has marginal impact on the dynamics of the system. Finally, a bicycle rider control model considering human rider properties is presented, and its capabilities are demonstrated by performing a curve entering manoeuvre.

BIKE POSITION-AN INSIGHT INTO ATHLETIC ABILITY TO ADAPT TO CHANGE?

BackgroundThe ergonomic interaction between a cyclist and their bike (bike fit) is a potential source of injury and under performance.ObjectiveExpose the potential link between those riders who continually adjust their...

Intersection Support System for Powered Two-Wheeled Vehicles: Threat Assessment Based on a Receding Horizon Approach

This paper reports a novel intersection support (IS) system for motorcycles developed through the SAFERIDER project (IS). The IS function described is built on a receding horizon approach that is designed for a set of predefined intersection scenarios. In the receding horizon scheme, a nonlinear optimal control problem is repetitively solved in real time, yielding a reference motion plan. The initial value of the longitudinal jerk (control input) of each plan is used as a measure of the correction that the rider has to apply to conform to an optimal-safe maneuver. This technique has the advantage of yielding a homogenous measure of the threat independent of the scenario, and it is directly linked with the control variable that the rider should use to accordingly change the vehicle's longitudinal dynamics. Additionally, the receding horizon approach naturally accommodates road geometry and constraint attributes, motorcycle dynamics, rider input, and riding styles. Warning feedback is given to the rider by an appropriate combination of human-machine interface elements, such as the haptic throttle, the vibrating glove, and the visual display. This paper explains the IS concept, discusses the implementation aspects of the proposed receding horizon approach, and presents the results of pilot tests conducted on a top-of-the-range riding simulator.

A virtual motorcycle driver to simulate real manoeuvres from experimental data

The control of single-track vehicles represents a challenging task. The stability is characterized by vibration modes which change with the vehicle speed and acceleration and may possibly become unstable under certain motion conditions. This paper presents a virtual rider who accounts for these effects by updating the control action at each instant, based on the information of the approaching road section and the current vehicle state. This approach mimics the behaviour of a real rider, who looks ahead, learning a portion of the track and continuously using this information to decide when and how to steer and accelerate or decelerate. As an example of application, the virtual rider is employed to simulate a real manoeuvre using the experimental signals (namely the speed and the roll angle) of the real vehicle as the target motion for the virtual vehicle. A comparison between the virtual rider inputs and the real rider inputs is included. The essential properties that make the behaviour of the virtual rider consistent with that of the real human rider are addressed.

A nonlinear virtual rider for motorcycles

This work presents a virtual rider for the guidance of a nonlinear motorcycle model. The target motion is defined in terms of roll angle and speed. The virtual rider inputs are the steering torque, the rear-wheel driving/braking torque and front-wheel braking torque. The virtual rider capability is assessed by guiding the nonlinear motorcycle model in demanding manoeuvres with roll angles of 50° and longitudinal accelerations up to 0.8 g. Considerations on the effective preview distance used by the virtual rider are included.

An intelligent curve warning system for powered two wheel vehicles

This article illustrates a novel Curve Warning system for motorcycles which has been developed in the SAFERIDER project (www.saferider-eu.org) of the 7th EU FP, among other Advanced Rider Assistance Systems. The Curve Warning function (CW) described here follows a holistic approach, which combines road geometry, motorcycle dynamics, rider input and riding styles. The warning strategy is based on the correction of longitudinal dynamics derived from a previewed ideal manoeuvre (reference manoeuvre) continuously computed from the actual state of the vehicle. Under normal driving conditions the reference manoeuvre matches the rider’s and no correction is needed and no warning is given. But if large differences between actual and ideal accelerations are found the rider is warned to decelerate or brake. As soon as the correct value of deceleration is achieved the warning disappears, improving system acceptability. Warnings are given to the rider via an HMI, which uses a haptic accelerator throttle, a vibrating glove and helmet, and a visual display.

Controller Design and Evaluation of Lane-Keeping-Assistance System for Motorcycles

This study seeks to design a lane keeping controller for motorcycles and to evaluate it by computer simulation with a four-degree-of-freedom model and a rider control model. We applied the optimal control theory to the lane keeping controller as a model-based control. By examining the computer simulation with the rider-in-the-loop system consisting of the motorcycle, the controller, and the rider control model, good lane following performance is achieved without interference between the control input and the rider's input. In addition, the virtual point regulator, which compensates the lateral displacement at the virtual point ahead of the vehicle, corresponds to not only the steering torque disturbance but also the lateral force disturbance by choosing the distance to the virtual point.

C21 マルチボディシミュレーションによる二輪車の車線維持支援システムの検証(OS1 交通機械の制御2)

This study examines to design a lane keeping controller for motorcycles and to evaluate it by using a multibody-dynamics model and a rider control model. By examining simulation with a rider-in-the-loop system consisting of the motorcycle, the lane keeping controller, and the rider control model, the lane keeping controller improves the lane keeping performance without interference between the control input and the rider's input. The steer-by-wire system also improves the lane keeping performance in comparison with the conventional motorcycles and cooperates with the lane keeping controller.

1202 二輪車の車線維持支援システムに関する研究 : ライダ操縦モデルによるシステムの評価(OS3-1 操舵系の制御,OS3 交通・物流システムの制御,オーガナイズド・セッション)

This study seeks to design a lane keeping controller for motorcycles and to evaluate it by using a rider control model. We applied the optimal control theory to evaluate a lateral displacement at a virtual point ahead of the vehicle. By examining the computer simulation with the rider-in-the-loop system consisting of the motorcycle, the controller, and the rider control model, good lane following performance is achieved without interference between the control input and the rider's input. In addition, the virtual point regulator corresponds to not only the steering torque disturbance but also the lateral force disturbance by choosing the distance to the virtual point.